#include <MultiSenseTypes.hh>

Public Attributes
bool	enabled

std::string	name

uint32_t	rangeTableIndex

uint32_t	rateTableIndex

Detailed Description

Class used to store a specific IMU configuration.

Example code to query a IMU configuration:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");
 
channel->setMtu(1500);
 
//
// Create local variables to store the information returned by
// reference from getImuConfig().
std::vector<crl::multisense::imu::Config> imuConfigVect;
uint32_t samplesPerMessage;
 
//
// Query the IMU configuration from the Channel instance
crl::multisense::Status status = channel->getImuConfig(samplesPerMessage, imuConfigVect);
 
//
// Check to see if the IMU configuration query was successful
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to query the imu configuration");
}
 
//
// Use the IMU configuration...
 
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Example code to set a IMU configuration:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");
 
channel->setMtu(1500);
 
//
// Create a vector of IMU configurations to store the queried IMU configuration
std::vector<crl::multisense::imu::Config> imuConfigVect;
 
//
// Create a uint32_t to store the samplesPerMessage quantity returned
// by reference from getImuConfig
uint32_t samplesPerMessage;
 
crl::multisense::Status status;
 
//
// Query the IMU configuration from the Channel instance
status = channel->getImuConfig(samplesPerMessage, imuConfigVect);
 
//
// Check to see if the IMU configuration query was successful
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to query the imu configuration");
}
 
//
// Enable streaming for the IMU device at index 0 and select the
// rate corresponding to index 0 in crl::multisense::imu::Info::rates for
// the corresponding IMU device
imuConfigVect[0].enabled = true;
imuConfigVect[0].rateTableIndex = 0;
 
//
// Do not store these new settings in flash
bool storeSettings = false;
 
//
// Set the new IMU configuration. Keep the same samplesPerMessage setting
// indicated by the 0 value
crl::multisense::Status status = channel->setImuConfig(storeSettings, 0, imuConfigVect);
 
//
// Check to see if the new IMU configuration was successfully received.
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to set the imu configuration");
}
 
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);